JP2008209290A - Tracking device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tracking device for tracking a stable target machine and a disturbance machine, by obtaining speed information and acceleration information having small observation errors from an initial stage of observation. <P>SOLUTION: The tracking device for performing tracking processing of the target machine and the disturbance machine, based on input observed values, includes a selection part 21 for discriminating the observed values concerning any one of the target machine and the disturbance machine by the observed values; a filtering processing part 24a for generating tracking information to the target machine to the target machine having correlation by calculating an average value, based on prediction values indicating a position predicting that the target machine reaches and the observed values; a correlation processing part 25 for determining the correlation of the target machine; a filtering processing part 24b for generating the tracking information to the disturbance machine having correlation; a correlation processing part 22b for determining the correlation of the disturbance machine; and an initialization processing part 25 for setting the tracking information of the target machine, having the correlation at an initial value of the tracking information of the disturbance machine to the observed value. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a tracking device that tracks a target, and more particularly, to a tracking device that tracks multiple targets such as a target machine and a jammer.

  Conventionally, a tracking device that detects and tracks a moving target is known. FIG. 5 is a block diagram showing a configuration of a conventional tracking device. As shown in FIG. 5, the conventional tracking device includes a selection unit 1, a correlation processing unit 2a, a track file maintenance unit 3a, a filtering processing unit 4a, a track file 11a, a correlation processing unit 2b, a track file maintenance unit 3b, and a filtering process. A section 4b and a track file 11b. Here, the correlation processing unit 2a, the track file maintenance unit 3a, the filtering processing unit 4a, and the track file 11a are used when tracking the target aircraft. In addition, the correlation processing unit 2b, the track file maintenance unit 3b, the filtering processing unit 4b, and the track file 11b are used when tracking a jammer. A jammer refers to a mobile object that transmits jamming waves. Therefore, the tracking device can know the direction of the jammer by observing the arrival direction of the jamming wave, but cannot observe the distance.

  The selection unit 1 switches the output destination of the observation value depending on whether the observation value is the target aircraft or the jammer.

  The correlation processing unit 2a determines the correlation of the target aircraft based on the predicted value calculated by the filtering processing unit 4a and the input observation value. A specific correlation determination method will be described later.

  When the selection unit 1 determines that the observation value is an observation value related to the target aircraft, the filtering processing unit 4a obtains a predicted value indicating a position where the target aircraft is predicted to arrive based on the past track information of the target aircraft. In addition to calculation, a smooth value is calculated based on the observed value and the predicted value, and wake information for the correlated target aircraft is generated. Note that when the observed value is a newly discovered target aircraft, since there is no past track information of the target aircraft, a smooth value is calculated based only on the observed values. A specific calculation method will be described later.

  The track file 11a stores track information generated by the filtering processor 4a.

  The track file maintenance unit 3a manages track information stored in the track file 11a. A specific management method will be described later.

  The correlation processing unit 2b, the track file maintenance unit 3b, the filtering processing unit 4b, and the track file 11b are basically the correlation processing unit 2a, the track file maintenance, except that they are used when tracking the jammer instead of the target machine. It has the same functions as the unit 3a, the filtering processing unit 4a, and the track file 11a.

  Specifically, when the selection unit 1 determines that the observation value is an observation value related to the jammer, the filtering processing unit 4b is a position where the jammer is predicted to arrive based on the past track information of the jammer. Is calculated, and a smooth value is calculated based on the observed value and the predicted value to generate wake information for a correlated jammer.

  The correlation processing unit 2b determines the correlation of the jammer based on the predicted value calculated by the filtering processing unit 4b and the input observation value.

  Next, the operation of the conventional tracking device configured as described above will be described. FIG. 6 is a flowchart showing the flow of processing of the conventional tracking device.

  First, the observation value is input to the tracking device (step S101a). The selection unit 1 determines whether the input observation value is an observation value regarding the target aircraft or the jammer (step S103a). Here, it is assumed that the observed value is an observed value related to the target aircraft. The selection unit 1 outputs the observation value to the correlation processing unit 2a.

The filtering processing unit 4a calculates a predicted value indicating a position where the target aircraft is predicted to reach based on past track information of the target aircraft (step S105a). The past track information of the target aircraft is stored for each target aircraft in the track file 11a. Here, when the αβ filter is used for the filtering process, the filtering processing unit 4a calculates the predicted value (predicted position x ^a (k | k−1)) corresponding to the observed value of the k-th target aircraft by the following equation. calculate.

Here, x ^a (k−1 | k−1) is the k−1th smoothing position of the target aircraft. Further, v ^a (k−1 | k−1) is the k−1th smoothing speed of the target aircraft. Further T ^a is the observation time interval of the target machine.

  Next, the correlation processing unit 2a determines the correlation of the target aircraft based on the predicted value calculated by the filtering processing unit 4a and the input observation value. Specifically, the correlation processing unit 2a opens a gate centering on the predicted value output from the filtering processing unit 4a, and performs a gating process for determining whether or not the observed value is within the gate (step S107a). . Since the gate indicates the range where the target aircraft is expected to reach, the range and shape of the gate depend on the observation accuracy of a radar device or the like that inputs observation values to the tracking device. In general, since the observation accuracy in the distance direction is higher than the observation accuracy in the angular direction, the shape of the gate is often an elliptical shape.

  Further, the correlation processing unit 2a performs a connection process for associating the observed values in the gates with the gates one to one (step S109a). Thereby, it is determined whether or not the value is continuous with the track information of the past target aircraft, and the determination result is output to the track file maintenance unit 3a.

  The track file maintenance unit 3a manages track information stored in the track file 11a based on the determination result input by the correlation processing unit 2a, that is, performs track file maintenance processing (step S111a). First, when there is an observation value that does not correspond to any gate, the track file maintenance unit 3a determines that a new target has occurred, and newly creates track information corresponding to the target in the track file 11a.

  In addition, the track file maintenance unit 3a assumes that the target is lost when the observation value does not enter the gate and the state continues even though the past track information is stored in the track file 11a. The track information for the corresponding target aircraft stored in the track file 11a is deleted.

In step S111a, when a new target is observed and track information corresponding to the target is created in the track file 11a, the filtering processing unit 4a determines whether or not initialization has been performed (step S112a), and initialization is performed. If not completed, an initialization process is performed (step S113a). Here, the filtering processing unit 4a performs smoothing values (smooth position x ^a (1 | 1) and smoothing speed v ^a (1 | 1)) of the first target machine and smooth values (smooth position of the second target machine). For x ^a (2 | 2) and smoothing velocity v ^a (2 | 2)), initialization is performed based on the following equation.

Note that x ^a _m (1) and x ^a _m (2) are the observed values of the first and second target aircraft.

If it has been initialized, the filtering processing unit 4a, in step S109a, is an observation value that is connected by the correlation processing unit 2a (an observation value determined to be a continuous value with the past target aircraft track information). A smooth value is calculated using the predicted value (step S115a). Further, the filtering processing unit 4a outputs the calculated smooth value to the track file 11a. Here, the smooth value (smooth position x ^a (k | k) and smoothing speed v ^a (k | k)) of the k-th target machine (k; 3 or more) is calculated by the following equation.

In the above equation, x ^a _m (k) is the k-th observed value of the target aircraft. Α ^a and β ^a are filter gains of the target aircraft.

  The track file 11a stores track information generated by the filtering processing unit 4a. Here, the wake information indicates information data related to the target being tracked, and includes information on the number of observations, filter gain of the filtering process, and the like in addition to information on the position and speed.

  When the observation value of the jammer is input in step S101a, the selection unit 1 outputs the observation value to the correlation processing unit 2b. Subsequent processing is the same as when tracking the target aircraft in steps S117a to 127a using the correlation processing unit 2b, the track file maintenance unit 3b, the filtering processing unit 4b, and the track file 11b. The description that has been made will be omitted.

  The equations (1) to (7) for the target aircraft are the following equations (8) to (14) for the jammer.

A predicted value (predicted position x ^b (k | k−1)) corresponding to the observed value of the k th jammer is calculated by the following equation.

Here, x ^b (k−1 | k−1) is a smooth position of the k−1 th jammer. Further, v ^b (k−1 | k−1) is the smoothing speed of the k−1 th jammer. ^Tb is the observation time interval of the jammer.

The filtering processing unit 4b performs smoothing values (smooth position x ^b (1 | 1) and smoothing speed v ^b (1 | 1)) of the first jammer and smoothing values (smooth position x ^b ( 2 | 2) and the smoothing speed v ^b (2 | 2)) are initialized based on the following equations.

Here, x ^b _m (1) is the observed value of the first jammer. X ^b _m (2) is the second observed value of the jammer.

Further, the filtering processing unit 4b calculates the smoothed values (smooth position x ^b (k | k) and smoothing speed v ^b (k | k)) of the k-th (k; 3 or more) jammer based on the following equations. To do.

Here, x ^b _m (k) is an observation value of the k-th jammer. Α ^b and β ^b are filter gains of the jammer.

  However, as described above, the tracking device can know the direction of the jammer by observing the arrival direction of the jamming wave, but cannot observe the distance. Therefore, the track information for the jammer is mainly angle information.

  FIG. 7 is a diagram showing an example of the data flow in the conventional tracking device. As described in FIG. 6, when the observed value is an observed value related to the target aircraft, and the observed value does not correspond to any gate, the track file maintenance unit 3a determines that a new target has occurred in step S111a. The track information corresponding to the target is newly created in the track file 11a. As described above, the filtering processing unit 4a performs an initialization process.

  Conventional tracking devices periodically perform tracking processing. In FIG. 7, the second and third observation values are also observation values regarding the target aircraft. Therefore, when it is determined that there is a correlation by the correlation processing unit 2a and a connection process is performed, the track file 11a stores track information such as a smooth value generated by the filtering processing unit 4a.

  However, in FIG. 7, the fourth observed value is an observed value related to the jammer. Here, it is assumed that the observation value related to the target aircraft has not been input. The track file maintenance unit 3b determines that a new jammer has been observed, and newly creates track information corresponding to the jammer in the track file 11b. The filtering processing unit 4b performs initialization processing.

  Further, in FIG. 7, it is assumed that the fifth observed value is also an observed value related to the jammer, and the observed value related to the target aircraft is not input. Therefore, when it is determined that there is a correlation by the correlation processing unit 2b and a connection process is performed, the track file 11b stores track information such as a direction and an angular velocity generated by the filtering processing unit 4b.

  On the other hand, the track file maintenance unit 3a loses the target because the past track information is stored in the track file 11a but the observation value does not enter the gate and the state is continuous. The track information for the target aircraft stored in the track file 11a is deleted.

  Similarly, since the sixth observation value is also an observation value related to the jammer, the track information is stored in the track file 11b. However, since the seventh observation value is again the observation value related to the target aircraft, New track information is created in the track file 11a by the file maintenance unit 3a.

  Thereafter, since the 8th observation value is an observation value related to the target aircraft, the track file maintenance unit 3b has the observation value in the gate even though the past track information for the jammer is stored in the track file 11b. Since the state is continuous, the track information for the corresponding jammer stored in the track file 11b as the target is lost is deleted.

  The ninth observed value in FIG. 7 is an observed value related to the target aircraft. Therefore, after the gating process, the connection process, and the like are performed, the filtering processing unit 4a generates track information such as a smooth value and stores it in the track file 11a.

Patent Document 1 also introduces a flying object guidance that introduces a guidance method that calculates the existence range of a movement target and searches for the movement target in a short time when the movement target is lost. An apparatus is described. According to this flying object guidance device, based on the position / velocity information of the flying object and the relative speed / relative distance that is the tracking information of the moving target, the moving target was lost due to interference from the moving target. However, it is possible to rediscover the movement target in a short time by calculating the existence range of the movement target.
Japanese Patent Laid-Open No. 2003-114098

  However, the conventional tracking device described above cannot obtain speed information and acceleration information of the target aircraft or jammer from the first observed value when tracking a newly observed target aircraft or jammer. Therefore, as shown in the formula (3) or the formula (10), an initial value such that the velocity at the first observation is 0 is substituted.

  Further, the conventional tracking device cannot obtain the acceleration information of the target aircraft or the jammer even in the second observation. Furthermore, the obtained speed information of the target aircraft or jammer has an error due to the influence of the observation error as shown in the equation (5) or (12). The influence of observation errors decreases as the number of observations increases, but there is a problem that tracking is unstable at the initial stage of tracking with a small number of observations.

  Furthermore, when the conventional tracking device tracks the jammer, the observation value of the direction can be obtained, but since the observation value of the distance cannot be obtained, the constraint condition of the angular velocity and angular acceleration for the jammer cannot be set, There is a problem that tracking becomes unstable rather than tracking the target aircraft. In particular, as described with reference to FIG. 7, even if there is a correlation between the target aircraft and the jammer, both are processed independently, and thus the created track information may be lost uselessly.

  Moreover, said situation corresponds also when the flying body guidance device described in patent document 1 is used. This flying object guidance device can rediscover the moving target in a short time by calculating the existence range of the moving target when it is obstructed by the moving target, but until it is rediscovered after losing sight There is a time lag, and immediately after the rediscovery, tracking becomes unstable for the reasons described above.

  The present invention solves the above-mentioned problems of the prior art, and can track speed and acceleration information with little observation error from the initial stage of observation, and can perform stable tracking of target aircraft and jammers. It is an object to provide an apparatus.

  In order to solve the above problems, a tracking device according to the present invention is a tracking device that performs tracking processing of a target aircraft and a jammer based on an input observation value, and the observation value is When the observed value is related to the target aircraft, a predicted value indicating a position where the target aircraft is predicted to arrive is calculated based on the past track information of the target aircraft, and a smooth value is calculated based on the observed value and the predicted value. A first filtering processing unit that calculates and generates track information for a correlated target aircraft; and a first filtering processing unit that determines a correlation between the target aircraft based on a predicted value calculated by the first filtering processing unit and an input observation value. 1 correlation processing unit, and when the observed value is an observed value related to the jammer, calculates a predicted value indicating a position where the jammer is predicted to reach based on past track information of the jammer, and the observed value A second filtering processing unit that calculates a smooth value based on the predicted value and generates wake information for a correlated jammer, a predicted value calculated by the second filtering processing unit, and an input observation value A second correlation processing unit for determining a correlation of the jammer based on the second correlation processing unit, and the second correlation processing unit determines that the observed value is not correlated with any jammer. In this case, the initial setting of the correlated wake information of the target aircraft to the initial value of the wake information of the jammer for the observed value based on the wake information for the correlated target aircraft generated by the first filtering processing unit. And a processing unit.

  The second invention is a tracking device that performs tracking processing of the target aircraft and the jammer based on the input observation values, and when the observation values are observation values relating to the target aircraft, the past wake of the target aircraft First, a predicted value indicating a position where the target aircraft is predicted to arrive is calculated based on the information, and a smooth value is calculated based on the observed value and the predicted value to generate track information for the correlated target aircraft. A filtering processing unit, a first correlation processing unit that determines the correlation of the target aircraft based on the predicted value calculated by the first filtering processing unit and the input observation value, and the observation value is an observation value related to the jammer In some cases, a predicted value indicating a position where the jammer is predicted to arrive is calculated based on the past track information of the jammer, and a smooth value is calculated based on the observed value and the predicted value, so that there is a correlation. Obstruction A second filtering processor that generates wake information for the aircraft, a second correlation processor that determines the correlation of the jammer based on the predicted value calculated by the second filtering processor and the input observation value; When the observed value is an observed value related to the target aircraft, and the first correlation processing unit determines that the observed value has no correlation with any target aircraft, the correlation generated by the second filtering processing unit An initialization processing unit configured to set the correlated wake information of the disturbing aircraft based on the wake information of a certain disturbing device as an initial value of the track information of the target aircraft for the observed value.

  According to the first aspect of the present invention, when tracking of a jammer is started, stable jammer tracking can be performed from the initial stage of observation using speed information and acceleration information that are less affected by observation errors. it can.

  According to the second aspect of the present invention, when tracking of a target aircraft is started, stable target aircraft tracking can be performed from the initial stage of observation using speed information and acceleration information that are less affected by observation errors. it can.

  Embodiments of the tracking device of the present invention will be described below in detail with reference to the drawings.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating the configuration of the tracking device according to the first embodiment of the present invention. The tracking device periodically performs tracking processing of the target aircraft and the jammer based on the input observation values. As shown in FIG. 1, the difference from the conventional tracking device is that an initialization processing unit 25 is provided. Other configurations are the same as those of the conventional tracking device as shown in FIG.

  The correlation processing unit 22a, the track file maintenance unit 23a, the filtering processing unit 24a, and the track file 27a are used when tracking the target machine. In addition, the correlation processing unit 22b, the track file maintenance unit 23b, the filtering processing unit 24b, and the track file 27b are used when tracking a jammer.

  The selection unit 21 has the same function as the selection unit 1 in FIG.

  The correlation processing unit 22a corresponds to the first correlation unit of the present invention and has the same function as the correlation processing unit 2a in FIG.

  The filtering processing unit 24a corresponds to the first filtering processing unit of the present invention and has the same function as the filtering processing unit 4a in FIG.

  The track file 27a has the same function as the track file 11a in FIG.

  The track file maintenance unit 23a has the same function as the track file maintenance unit 3a in FIG.

  The correlation processing unit 22a, the track file maintenance unit 23b, the filtering processing unit 24b, and the track file 27b are basically used for tracking the jammer instead of the target aircraft, except for the correlation processing unit 22a, the track file maintenance. The same functions as those of the section 23a, the filtering processing section 24a, and the track file 27a. The correlation processing unit 22b corresponds to the second correlation processing unit of the present invention. The filtering processing unit 24b corresponds to the second filtering processing unit of the present invention.

  When the selection unit 21 determines that the observation value is an observation value related to the jammer and the correlation processing unit 22b determines that the observation value is not correlated with any jammer, Based on the track information for the correlated target aircraft generated by the filtering processing unit 24a, the correlated track information of the target aircraft is set to the initial value of the disturber's track information for the observed value.

  The initialization processing unit 25 determines that the observation value is determined to be an observation value related to the target aircraft by the selection unit 21 and the observation value is determined not to correlate with any target aircraft by the correlation processing unit 22a. Then, based on the wake information for the correlated jammer generated by the filtering processing unit 24b, the correlated wake information of the disturber is set as an initial value of the target aircraft wake information for the observed value.

  Next, the operation of the tracking device of the present embodiment configured as described above will be described. FIG. 2 is a flowchart showing the flow of processing of the tracking device according to the embodiment. Basically, it is the same as the processing flow of the conventional tracking device described in FIG. However, the initialization processing in step S113b and step S125b is different. Accordingly, there is a difference in the calculation of the smooth value during the filtering process in step S115b and step S127b.

  In step S111b, when a new target is observed and track information corresponding to the target is created in the track file 27a, the filtering processing unit 24a performs an initialization process (step S113b).

  Here, the initialization processing unit 25 is generated by the filtering processing unit 24b. Based on the track information for the correlated jammer stored in the track file 27b, it is determined whether or not the observed value is correlated with any of the jammers having the track information. Is stored in the track file 27a as an initial value of the track information of the target aircraft with respect to the observed value.

  Specifically, when determining whether or not there is a correlation, the initialization processing unit 25 first predicts that the jammer will arrive based on the past track information (smooth position, smooth speed, etc.) of the jammer stored in the track file 27b. A predicted value indicating the position to be calculated is calculated. Next, the initialization processing unit 25 determines the correlation based on the calculated predicted value and the input observation value regarding the target aircraft. That is, the initialization processing unit 25 performs a gating process that opens the gate around the calculated predicted value and determines whether the observed value is within the gate. Further, the initialization processing unit 25 performs a connection process for associating the observed values in the gates with the gates one to one.

  When it is determined that the track information of the past jammer and the observed value regarding the target aircraft observed this time are continuous values by the above-described processing, the initialization processing unit 25 performs the track of the correlated jammer. The information is stored in the track file 27a as the initial value of the track information of the target aircraft with respect to the observed value.

In step S109b or step S113b, the filtering processing unit 24a calculates a smooth value using the observation value that has been connected and the predicted value based on the track information stored in the track file 27a (step S115b). Here, in step S113b, when it is determined by the initialization processing unit 25 that the past wake information of the disturber and the observed value regarding the target aircraft observed this time are not continuous values (no correlation), the filtering process The unit 24a performs smoothing values (smooth position x ^a (1 | 1) and smoothing speed v ^a (1 | 1)) of the first target machine and smooth values (smooth position x ^a (2 |) of the second target machine. 2) and the smoothing speed v ^a (2 | 2)) are initialized based on the equations (2) to (5) as in the prior art. Similarly, the filtering processing unit 24a calculates the smoothing value (smooth position x ^a (k | k) and smoothing speed v ^a (k | k)) of the k-th (k; 3 or more) target machine using the equation (6). And it calculates based on (7) Formula.

In step S113b, when the initialization processing unit 25 determines that the past wake information of the disturbing aircraft and the observed value regarding the target aircraft observed this time are continuous values (correlation exists), The track information of a certain jammer is stored in the track file 27a as the initial value of the track information of the target aircraft with respect to the observed value observed this time. Therefore, the filtering processing unit 24a initializes the smoothed values (smooth position x ^a (1 | 1) and smoothing speed v ^a (1 | 1)) for the first observation with respect to the target aircraft according to the following equations.

Here, x ^b (1 | 0) and v ^b (0 | 0) are the predicted position and smoothing speed based on the wake information of the jammer that correlates with the observed value regarding the target aircraft observed this time. Further, α ^b and β ^b are filter gains based on the wake information of the jammer having a correlation with the observed value regarding the target aircraft observed this time. Furthermore, ^Tba is an observation time interval from the observation value of the jammer observed last time to the observation value of the target aircraft observed this time.

Therefore, when using the above-described equations (15) and (16), the filtering processing unit 24a uses the predicted value based on the track information of the jammer that is correlated with the observed value regarding the target aircraft observed this time, The smooth value is calculated using the smoothing speed and the filter gain. However, there is also a method for calculating the smooth value using only the smoothing speed of the jammer that has a correlation with the observed value of the target aircraft observed this time. In that case, the filtering processing unit 24a initializes the smoothed values (smooth position x ^a (1 | 1) and smoothing speed v ^a (1 | 1)) for the first observation for the target aircraft according to the following equations.

Similarly, the filtering processing unit 24a performs the smoothing value (smoothing value) of the k-th target machine (k; 2 or more) when initialization is performed according to the equations (15), (16) or (17), (18). The position x ^a (k | k) and the smoothing speed v ^a (k | k)) are calculated based on the equations (6) and (7).

The equations (15) to (18) for the target aircraft are the following equations (19) to (22) for the jammer.

Here, x ^a (1 | 0) and v ^a (0 | 0) are the predicted position and smoothing speed based on the track information of the target aircraft correlated with the observed values related to the jammer observed this time. Further, α ^a and β ^a are filter gains based on the track information of the target aircraft having a correlation with the observed value regarding the disturbing device observed this time. Further, ^Tab is an observation time interval from the observation value of the target aircraft observed last time to the observation value of the jammer observed this time.

  In the present embodiment, the filtering processing unit 24a uses an αβ filter for the filtering process, but an αβγ filter, a Kalman filter, or the like can also be used. Further, as information used for initialization, high-order time differential information such as acceleration, jerk (acceleration differential component), etc. can be used in addition to the position and speed according to the filter used for the filtering process. Further, the formulas (15) to (22) shown as formulas for calculating the smooth value are examples, and are not limited to these formulas.

  When the coordinate system for tracking the target aircraft is different from that for tracking the jammer, such as orthogonal coordinates and polar coordinates, the initialization processing unit 25 may include a coordinate conversion function.

  When the observation value of the jammer is input in step S101b, the selection unit 21 outputs the observation value to the correlation processing unit 22b. The subsequent processing is the same as that in the case of tracking the target aircraft from step S117b to step 127b using the correlation processing unit 22b, the track file maintenance unit 23b, the filtering processing unit 24b, the initialization processing unit 25, and the track file 27b. Therefore, redundant description is omitted. The initialization process in this case will be briefly described as follows.

  In step S123a, when a new jammer is observed and track information corresponding to the jammer is created in the track file 27b, the filtering processor 24b performs an initialization process (step S125b).

  Here, the initialization processing unit 25 is generated by the filtering processing unit 24a. Based on the track information for the correlated target aircraft stored in the track file 27a, it is determined whether or not the observed value is correlated with any of the target aircraft having the track information. Is stored in the track file 27b as an initial value of the disturber's track information for the observed value.

  In step S121b or step S125b, the filtering processing unit 24b calculates a smooth value using the observation value that has been connected and the predicted value based on the track information stored in the track file 27b (step S127b).

  FIG. 3 is a diagram illustrating an example of a data flow in the tracking device according to the embodiment. As described in FIG. 2, when the observed value is an observed value related to the target aircraft, and the observed value does not correspond to any gate, the track file maintenance unit 23a determines that a new target has occurred in step S111b. The track information corresponding to the target is newly created in the track file 27a. As described above, the filtering processing unit 24a performs an initialization process.

  Here, when the initialization processing unit 25 determines that the past wake information of the jammer and the observation value regarding the target aircraft observed this time are not continuous values (no correlation), the filtering processing unit 24a The smoothing value for the first observation with respect to the target aircraft is calculated by the above-described equations (2) and (3).

  In FIG. 3, the second and third observed values are also observed values for the target aircraft. Therefore, when it is determined that there is a correlation by the correlation processing unit 22a and a connection process is performed, the track file 27a stores track information such as a smooth value generated by the filtering processing unit 24a.

  However, in FIG. 3, the fourth observed value is an observed value related to the jammer. Here, it is assumed that the observation value related to the target aircraft has not been input. The track file maintenance unit 23b determines that a new jammer has been observed, and newly creates track information corresponding to the jammer in the track file 11b. The filtering processing unit 24b performs an initialization process.

  Here, when the initialization processing unit 25 determines that the track information of the past target aircraft and the observed values related to the disturbing device observed this time are continuous values (correlation), the correlated target aircraft is correlated. Is stored in the track file 27b as an initial value of the disturber's track information for the observation value observed this time. Therefore, the filtering processing unit 24b calculates the smoothing value for the first observation for the jammer by the above-described equations (19) and (20). At this time, the expressions (21) and (22) may be used instead of the expressions (19) and (20).

  Further, in FIG. 3, it is assumed that the fifth observed value is also an observed value related to the jammer, and the observed value related to the target aircraft is not input. Accordingly, when it is determined that there is a correlation by the correlation processing unit 22b and the concatenation process is performed, the track file 27b is generated in the direction generated by the filtering processing unit 24b using the equations (13) and (14). And track information such as angular velocity.

  On the other hand, the track file maintenance unit 23a loses the target because the past track information is stored in the track file 27a, but the observation value does not enter the gate and the state is continuous. The track information for the target aircraft stored in the track file 27a is deleted.

  Similarly, since the sixth observation value is also an observation value related to the jammer, the track information is stored in the track file 27b. However, since the seventh observation value is again an observation value related to the target aircraft, New track information is created in the track file 27a by the file maintenance unit 23a.

  Similarly here, the filtering processing unit 24a performs an initialization process. Here, when the initialization processing unit 25 determines that the past wake information of the jammer and the observed value related to the target aircraft observed this time are continuous values (correlation), the jammer having a correlation is determined. Is stored in the track file 27a as an initial value of the track information of the target aircraft with respect to the observed value observed this time. Therefore, the filtering processing unit 24a calculates the smoothed value for the first observation for the target aircraft according to the above-described equations (15) and (16). At this time, the expressions (17) and (18) may be used instead of the expressions (15) and (16).

  Thereafter, since the eighth observed value is an observed value related to the target aircraft, the track file maintenance unit 23b does not store the past track information for the jammer in the track file 27b, but the observed value in the gate. Since the state is continuous, the track information for the corresponding jammer stored in the track file 27b is deleted because the jammer is lost. Regarding the target aircraft, when the correlation processing unit 22a determines that there is a correlation and the connection processing is performed, the track file 27a uses the equations (6) and (7) by the filtering processing unit 24a. The wake information such as the direction and the angular velocity generated is stored.

  The ninth observed value in FIG. 3 is an observed value related to the target aircraft. Therefore, after the gating process, the connection process, and the like are performed, the filtering processing unit 24a generates track information such as a smooth value and stores it in the track file 27a.

  As described above, according to the tracking device according to the first embodiment of the present invention, when tracking a newly observed jammer, there is a correlation using the track information related to the target aircraft accumulated so far. If it is determined, the newly observed jammer and the correlated target aircraft are assumed to be the same aircraft, and the track information of the target aircraft is set to the initial value of the track information of the jammer. From the initial stage of observation, stable jammer tracking can be performed using velocity information and acceleration information that are less affected by observation errors.

  Basically, when tracking a jammer, only the observed value of the direction can be obtained, but according to the tracking device according to this embodiment, the track information of the target aircraft whose distance is known is used as the initial value. Not only the direction of the jammer but also the distance is known, and stable jammer tracking can be performed.

  Further, according to the tracking device according to the embodiment of the first embodiment of the present invention, when tracking a newly observed target aircraft, there is a correlation using the track information about the jammer accumulated so far. The newly observed target aircraft and the correlated jammer are the same aircraft, and the track information of the jammer is set to the initial value of the target aircraft track information. From the initial stage of observation, stable target machine tracking can be performed using speed information and acceleration information that are less affected by observation errors.

  In this embodiment, when there are a plurality of pieces of track information correlated with the new target, a plurality of track hypothesis information as described later is not generated, and the initialization processing unit 25 uses the track with the smallest prediction error. It can be configured to perform initialization using only information. Details of the case where there are a plurality of pieces of track information correlated with the new target and a plurality of pieces of track hypothesis information are generated (Example 2) will be described later.

  Next, the tracking device according to the second embodiment will be described. The configuration of the tracking device according to this embodiment is the same as the configuration of the tracking device according to the first embodiment shown in FIG.

  However, the filtering processing unit 24b determines that the observation value is an observation value related to the jammer by the selection unit 21, and the correlation processing unit 22b determines that the observation value is not correlated with any jammer, and If the initial processing unit 25 sets the correlated track information of the target aircraft as the initial value of the disturber's track information for the observed value, it is assumed that the observed value is not correlated with the target aircraft, and only the observed value is obtained. Based on the first wake hypothesis information based and the second wake hypothesis information based on the observed value and the initial value of the wake information of the jammer for the observed value, the observed value is assumed to be correlated with the target aircraft.

  Further, when there are a plurality of pieces of track information correlated with the observed values, the following is obtained. The filtering processing unit 24b determines that the observation value is an observation value related to the jammer, the correlation processing unit 22b determines that the observation value is not correlated with any jammer, and the initialization processing unit 25 has a plurality of correlations. Assuming that each of the target aircraft track information is set to the initial value of the jammer track information relative to the observed value, the observed value is assumed to be correlated with each of the target aircraft. A plurality of second wake hypothesis information is generated based on the initial value of the wake information of the jammer. Of course, also in this case, it is possible to generate the first wake hypothesis information based only on the observation value on the assumption that the observation value has no correlation with the target aircraft.

  The generated first track hypothesis information and one or more second track hypothesis information are stored in the track file 27b. However, the filtering processing unit 24b may be configured to generate only the second track hypothesis information without generating the first track hypothesis information.

  The track file maintenance unit 23b corresponds to the determination unit of the present invention. In addition to the function described in the first embodiment, the track file maintenance unit 23b selects one of the first track hypothesis information and the second track hypothesis information based on a predetermined condition. The other information is deleted from the track file 27b. In addition, when there are a plurality of pieces of track information correlated with the observed values, the track file maintenance unit 23b determines that the first track hypothesis information (there is no first track hypothesis information) and the plurality of pieces of track information based on a predetermined condition. One of the second wake hypothesis information is selected and the other information is deleted.

  Here, the predetermined condition can be freely set by the operator. For example, since the first wake hypothesis information assumes that the observed value is not correlated with the target aircraft, the filtering processing unit 24b uses the equations (9) and (10) to smooth the first wake hypothesis information. Assume that the value is calculated. At the same time, since the second wake hypothesis information assumes that the observed value is correlated with the target aircraft, the filtering processor 24b uses the equations (19) and (20) to calculate the second wake hypothesis information. A smooth value is calculated.

  Thereafter, each time an observation value is input, the filtering processing unit 24b calculates a predicted value using the equation (1), and further calculates a smooth value using the equations (13) and (14). If the observed value is actually correlated with the target aircraft, the initial value used for the second wake hypothesis information is correct, so the predicted value calculated by the filtering processing unit 24b is expected to be close to the actual observed value. The Conversely, when the observed value does not actually correlate with the target aircraft, the initial value used for the second wake hypothesis information is incorrect, and thus the predicted value calculated by the filtering processor 24b and the actual observed value It is expected that there will be a big difference between them.

  Therefore, as an example, the operator sets a condition such that after a predetermined number of observations, the track hypothesis information calculated by the filtering processor 24b is close to the observation value, and the other track hypothesis information is deleted. can do. Of course, the track file maintenance unit 23b may be set from the beginning. Further, even when a plurality of second wake hypothesis information is generated, the track file maintenance unit 23b can select the second wake hypothesis information whose predicted value is close to the observed value and delete other information. When the first wake hypothesis information and the plurality of second wake hypothesis information exist, information having the predicted value closest to the observed value is selected from the entire information.

  An example in the case where there is no correlation between the target aircraft and the jammer is shown below. As described above, since only the heading can be known for the jammer, when the jamming wave is received from the same direction as the target aircraft that has been observed so far, the initialization processing unit 25 can There is a high possibility that the machine will have a correlation. However, if the target aircraft and the jammer are actually different aircraft, and the distance of the jammer is considerably away from the tracking device compared to the target aircraft, the predicted value predicted by the filtering processor 24b In comparison, since the angular velocity of the jammer is slow, a gap occurs between the predicted value and the observed value. Therefore, the track file maintenance unit 23b selects the first track hypothesis information that is assumed to have no correlation, and deletes the second track hypothesis information.

  Instead of the track file maintenance unit 23b, the filtering processing unit 24b selects one of the first track hypothesis information and the second track hypothesis information based on a predetermined condition (for example, the likelihood calculated from the prediction error). The other information can also be deleted from the track file 27b. In that case, the filtering processing unit 24b corresponds to the determination unit of the present invention. In addition, when there are a plurality of pieces of track information correlated with the observed value, the filtering processing unit 24b performs the first track hypothesis information (there may be no first track hypothesis information) and a plurality of first track hypotheses based on a predetermined condition. While selecting one of the two wake hypothesis information, the other information is deleted.

  The filtering processing unit 24a determines that the observation value is an observation value related to the target aircraft by the selection unit 21, and determines that the observation value is not correlated with any target aircraft by the correlation processing unit 22a. When the correlator wake information correlated with the observed value is set as the initial value of the target wake information with respect to the observed value by the optimization processing unit 25, it is assumed that the observed value is not correlated with the disturber. The first wake hypothesis information and the second wake hypothesis information based on the observed value and the initial value of the wake information of the target aircraft with respect to the observed value are generated on the assumption that the observed value is correlated with the jammer.

  Further, when there are a plurality of pieces of track information correlated with the new target, the filtering processing unit 24a uses the observation value for the target aircraft as well as the observation value for any target aircraft by the correlation processing unit 22a. When it is determined that there is no correlation and the initialization processing unit 25 sets each of the correlated wake information of a plurality of jammers as the initial value of the wake information of the target aircraft with respect to the observed value, A plurality of second wake hypothesis information is generated based on the observed value and the initial value of the wake information of the target aircraft with respect to the observed value, assuming that there is a correlation with each of the jammers. Of course, also in this case, it is possible to generate the first wake hypothesis information based only on the observation value on the assumption that the observation value is not correlated with the jammer.

  In this case, the generated first wake hypothesis information and one or more second wake hypothesis information are stored in the track file 27a.

  The track file maintenance unit 23a corresponds to the determination unit of the present invention. In addition to the function described in the first embodiment, the track file maintenance unit 23a selects one of the first track hypothesis information and the second track hypothesis information based on a predetermined condition. The other information is deleted from the track file 27a. As described above, the operator can freely set the predetermined condition. Of course, the track file maintenance unit 23a may be set from the beginning. Further, even when a plurality of second wake hypothesis information is generated, the track file maintenance unit 23a, like the track file maintenance unit 23b, has the first wake hypothesis information (there is no first wake hypothesis information) based on a predetermined condition. In some cases, one of the plurality of second wake hypothesis information is selected and the other information is deleted.

  Next, the operation of the tracking device of the present embodiment configured as described above will be described. Basically, it is the same as the flowchart diagram showing the processing flow of the tracking device according to the first embodiment shown in FIG. However, in steps S113b and S125b, the filtering processing unit 24a or the filtering processing unit 24b generates the first wake hypothesis information and one or more second wake hypothesis information as described above.

  In step S111b and step S123b, the track file maintenance unit 23a or the track file maintenance unit 23b deletes unnecessary track hypothesis information according to a predetermined condition as described above.

  FIG. 4 is a diagram illustrating an example of a data flow in the tracking device according to the present embodiment. This is basically the same as the flow in FIG. 3 described in the first embodiment. Differences from FIG. 3 are shown below.

  In FIG. 4, the fourth observed value is an observed value related to the jammer. Here, it is assumed that the observation value related to the target aircraft has not been input. The track file maintenance unit 23b determines that a new jammer has been observed, and newly creates track information corresponding to the jammer in the track file 11b. The filtering processing unit 24b performs an initialization process.

  Here, when the initialization processing unit 25 determines that the track information of the past target aircraft and the observed values related to the disturbing device observed this time are continuous values (correlation), the correlated target aircraft is correlated. Is stored in the track file 27b as an initial value of the disturber's track information for the observation value observed this time. The filtering processing unit 24b assumes that the observed value is not correlated with the target aircraft, the first wake hypothesis information based only on the observed value, and assumes that the observed value is correlated with the target aircraft. The second wake hypothesis information is generated based on the initial value of the wake information of the jammer. Therefore, the filtering processing unit 24b uses the initial value of the wake information of the jammer with respect to the observation value observed this time stored in the track file 27b only when generating the second wake hypothesis information.

  As described above, the filtering processing unit 24b calculates the smooth value of the first wake hypothesis information using the equations (9) and (10). At the same time, since the second wake hypothesis information assumes that the observed value is correlated with the target aircraft, the filtering processor 24b uses the equations (19) and (20) to calculate the second wake hypothesis information. A smooth value is calculated. At this time, the expressions (21) and (22) may be used instead of the expressions (19) and (20).

  In FIG. 4, since the observed value for the seventh time is again the observed value for the target aircraft, new track information is created in the track file 27a by the track file maintenance unit 23a.

  Similarly here, the filtering processing unit 24a performs an initialization process. Here, when the initialization processing unit 25 determines that the past wake information of the jammer and the observed value related to the target aircraft observed this time are continuous values (correlation), the jammer having a correlation is determined. Is stored in the track file 27a as an initial value of the track information of the target aircraft with respect to the observed value observed this time. In this case, the initialization processing unit 25 determines whether or not the observation values related to the target aircraft observed this time are correlated with both the first track hypothesis information and the second track hypothesis information. In FIG. 4, since there is a correlation with the second wake hypothesis information, the initialization processing unit 25 stores the second wake hypothesis information in the track file 27a as the initial value of the wake information of the target aircraft with respect to the observation value observed this time. Remember.

  Although not shown in FIG. 4, at the time of the seventh observation, the filtering processing unit 24 a assumes that the observed value is not correlated with the jammer and the first wake hypothesis information based on only the observed value. Assuming that the observed value correlates with the jammer, the second wake hypothesis information based on the observed value and the initial value of the wake information of the target aircraft with respect to the observed value may be generated.

  Thereafter, since the eighth observed value is an observed value related to the target aircraft, the track file maintenance unit 23b does not store the past track information for the jammer in the track file 27b, but the observed value in the gate. Since the state is continuous, the first wake hypothesis information and the second wake hypothesis information for the corresponding disturber stored in the track file 27b are deleted because the disturber is lost. In the example shown in FIG. 4, since the time when the jammer is observed is short, the track file maintenance unit 23b selects one of the first wake hypothesis information and the second wake hypothesis information based on a predetermined condition. At the same time, the other information is not deleted from the track file 27a. Therefore, if the track file maintenance unit 23b determines that one of the wake hypothesis information is correct and selects it, the other wake hypothesis information is deleted without losing sight of the jammer.

  As described above, according to the tracking device according to the second embodiment of the present invention, in addition to the effects of the first embodiment, when tracking a newly observed target aircraft or jammer, it is based on past track information. Since tracking is performed based on the second wake hypothesis information generated on the assumption that there is a correlation using the first wake hypothesis information generated first and the wake information related to the target aircraft or jammer accumulated so far, Even if there is an error in the determination of the presence or absence of correlation in the gating process or the connection process, stable target machine tracking can be performed.

  In addition, since unnecessary track hypothesis information is deleted, it is possible to leave only necessary information efficiently without using a storage area unnecessarily.

  The tracking device according to the present invention can be used for tracking devices such as radar sensors and sonar sensors.

It is a block diagram which shows the structure of the tracking apparatus of the form of Example 1 of this invention. It is a flowchart figure which shows operation | movement of the tracking apparatus of the form of Example 1 of this invention. It is a figure which shows an example of the flow of the data in the tracking apparatus of the form of Example 1 of this invention. It is a figure which shows an example of the flow of the data in the tracking apparatus of the form of Example 2 of this invention. It is a block diagram which shows the structure of the tracking apparatus of the conventional form. It is a flowchart figure which shows operation | movement of the tracking apparatus of the conventional form. It is a figure which shows an example of the flow of the data in the tracking apparatus of the conventional form.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Selection part 2a, 2b Correlation process part 3a, 3b Track file maintenance part 4a, 4b Filtering process part 11a, 11b Track file 21 Selection part 22a, 22b Correlation process part 23a, 23b Track file maintenance part 24a, 24b Filtering process part 25 Initialization processing unit 27a, 27b Track file

Claims (8)

A tracking device that performs tracking processing of a target aircraft and a jammer based on input observation values,
When the observed value is an observed value related to the target aircraft, a predicted value indicating a position where the target aircraft is predicted to arrive based on past track information of the target aircraft is calculated, and the observed value and the predicted value are A first filtering processing unit that calculates a smooth value based on the wake information for the correlated target aircraft;
A first correlation processing unit that determines the correlation of the target aircraft based on the predicted value calculated by the first filtering processing unit and the input observation value;
When the observed value is an observed value related to the jammer, a predicted value indicating a position where the jammer is predicted to reach is calculated based on past track information of the jammer, and the observed value and the predicted value are A second filtering processing unit that calculates a smooth value based on the wake information for the correlated jammer;
A second correlation processing unit for determining a correlation of the jammer based on the predicted value calculated by the second filtering processing unit and the input observation value;
The correlation generated by the first filtering processing unit when the observed value is an observation value related to the jammer and the second correlation processing unit determines that the observed value is not correlated with any jammer. A tracking device comprising: an initialization processing unit configured to set the correlated track information of the target aircraft based on the track information for a certain target aircraft as an initial value of the track information of the jammer for the observed value. The second filtering processing unit determines that the observation value is an observation value related to a jammer, the second correlation processing unit determines that the observation value is not correlated with any jammer, and the initialization process. If the track information of the target aircraft that is correlated by the unit is set to the initial value of the track information of the jammer for the observed value, it is assumed that the observed value is not correlated with the target aircraft. Second wake hypothesis information based on the observation value and the initial value of the wake information of the jammer with respect to the observation value on the assumption that the observation value is correlated with the target aircraft. And generate
The tracking device according to claim 1, further comprising: a determination unit that selects one of the first track hypothesis information and the second track hypothesis information based on a predetermined condition and deletes the other information. The second filtering processing unit determines that the observation value is an observation value related to a jammer, the second correlation processing unit determines that the observation value is not correlated with any jammer, and the initialization process. When the wake information of the plurality of target aircraft correlated with each other is set to the initial value of the wake information of the jammer for the observed value, the observed value is correlated with each of the plurality of target aircraft. And generating a plurality of second wake hypothesis information based on the observed value and the initial value of the wake information of the jammer for the observed value,
The tracking device according to claim 1, further comprising: a determination unit that selects one of the plurality of second wake hypothesis information based on a predetermined condition and deletes the other information. The second filtering processing unit determines that the observation value is an observation value related to a jammer, the second correlation processing unit determines that the observation value is not correlated with any jammer, and the initialization process. When the wake information of the plurality of target aircraft correlated by the unit is set as the initial value of the wake information of the jammer for the observed value, the observed value is not correlated with any of the target aircraft. Assuming that the first wake hypothesis information based only on the observed value, and assuming that the observed value is correlated with each of the plurality of target aircraft, the wake information of the jammer with respect to the observed value and the observed value A plurality of second wake hypothesis information based on the initial value of
The tracking device according to claim 1, further comprising: a determination unit that selects one of the first wake hypothesis information and the plurality of second wake hypothesis information based on a predetermined condition and deletes the other information. A tracking device that performs tracking processing of a target aircraft and a jammer based on input observation values,
When the observed value is an observed value related to the target aircraft, a predicted value indicating a position where the target aircraft is predicted to arrive based on past track information of the target aircraft is calculated, and the observed value and the predicted value are A first filtering processing unit that calculates a smooth value based on the wake information for the correlated target aircraft;
A first correlation processing unit that determines the correlation of the target aircraft based on the predicted value calculated by the first filtering processing unit and the input observation value;
When the observed value is an observed value related to the jammer, a predicted value indicating a position where the jammer is predicted to reach is calculated based on past track information of the jammer, and the observed value and the predicted value are A second filtering processing unit that calculates a smooth value based on the wake information for the correlated jammer;
A second correlation processing unit for determining a correlation of the jammer based on the predicted value calculated by the second filtering processing unit and the input observation value;
The correlation generated by the second filtering processing unit when the observed value is an observation value related to the target aircraft and the first correlation processing unit determines that the observation value is not correlated with any target aircraft. A tracking device comprising: an initialization processing unit configured to set the correlated wake information of the disturbing device based on the wake information for a certain disturbing device as an initial value of the track information of the target aircraft with respect to the observed value. The first filtering processing unit determines that the observed value is an observed value related to a target aircraft, and the first correlation processing unit determines that the observed value is not correlated with any target aircraft, and the initialization process. If the wake information of the jammer correlated by the unit is set to the initial value of the wake information of the target aircraft with respect to the observed value, it is assumed that the observed value is not correlated with the jammer. Second wake hypothesis information based on the observation value and the initial value of the wake information of the target aircraft with respect to the observation value assuming that the observation value is correlated with the jammer. And generate
6. The tracking device according to claim 5, further comprising a determination unit that selects one of the first wake hypothesis information and the second wake hypothesis information based on a predetermined condition and deletes the other information. The first filtering processing unit determines that the observed value is an observed value related to a target aircraft, and the first correlation processing unit determines that the observed value is not correlated with any target aircraft, and the initialization process. When the wake information of the plurality of jammers correlated with each other is set to the initial value of the wake information of the target aircraft with respect to the observed value, the observed value is correlated with each of the plurality of jammers. And generating a plurality of second wake hypothesis information based on the observed value and the initial value of the target aircraft wake information for the observed value,
The tracking device according to claim 5, further comprising a determination unit that selects one of the plurality of second wake hypothesis information based on a predetermined condition and deletes the other information. The first filtering processing unit determines that the observed value is an observed value related to a target aircraft, and the first correlation processing unit determines that the observed value is not correlated with any target aircraft, and the initialization process. When the wake information of the plurality of jammers correlated with each other is set to the initial value of the wake information of the target aircraft with respect to the observed values, the observed values are not correlated with any of the jammers. Assuming that the first wake hypothesis information based only on the observed value, and assuming that the observed value is correlated with each of the plurality of jammers, the observed information and the wake information of the target aircraft with respect to the observed value A plurality of second wake hypothesis information based on the initial value of
The tracking device according to claim 5, further comprising a determination unit that selects one of the first wake hypothesis information and the plurality of second wake hypothesis information based on a predetermined condition and deletes the other information.

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